How to implement Generic Repository Design Pattern with Dapper?

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Sure, a function to create and dispose your Connection will work great.

protected void Execute(Action<IDbConnection> query)
{
    using (IDbConnection db = new SqlConnection(ConfigurationManager.ConnectionStrings["myDB"].ConnectionString))
    {
        query.Invoke(db);
    }
}

And your simplified call site:

public void SaveCustomer(CustomerDTO custDTO)
{
    Execute(db => db.Execute(saveCustSp, custDTO, CommandType.StoredProcedure));
}

With Return Values:

public T Get<T>(Func<IDbConnection, T> query)
{
    using (IDbConnection db = new SqlConnection(ConfigurationManager.ConnectionStrings["myDB"].ConnectionString))
    {
        return query.Invoke(db); 
    }
}

In your call site, just write the logic you wish to use.

public IEnumerable<EmployeeDTO> GetEmployeeDetails(int employeeId)
{
    return Get<IEnumerable<EmployeeDTO>(db => 
        db.Query<EmployeeDTO>(anotherSp, new { EmployeeID = employeeId }, CommandType.StoredProcedure));
}

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